CanESD.h
Go to the documentation of this file.00001 /**************************************************************** 00002 * 00003 * Copyright (c) 2010 00004 * 00005 * Fraunhofer Institute for Manufacturing Engineering 00006 * and Automation (IPA) 00007 * 00008 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00009 * 00010 * Project name: care-o-bot 00011 * ROS stack name: cob_drivers 00012 * ROS package name: cob_generic_can 00013 * Description: This class implements the interface to an ESD can node 00014 * 00015 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00016 * 00017 * Author: Christian Connette, email:christian.connette@ipa.fhg.de 00018 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de 00019 * 00020 * Date of creation: April 2010 00021 * ToDo: - Remove Mutex.h search for a Boost lib 00022 * 00023 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00024 * 00025 * Redistribution and use in source and binary forms, with or without 00026 * modification, are permitted provided that the following conditions are met: 00027 * 00028 * * Redistributions of source code must retain the above copyright 00029 * notice, this list of conditions and the following disclaimer. 00030 * * Redistributions in binary form must reproduce the above copyright 00031 * notice, this list of conditions and the following disclaimer in the 00032 * documentation and/or other materials provided with the distribution. 00033 * * Neither the name of the Fraunhofer Institute for Manufacturing 00034 * Engineering and Automation (IPA) nor the names of its 00035 * contributors may be used to endorse or promote products derived from 00036 * this software without specific prior written permission. 00037 * 00038 * This program is free software: you can redistribute it and/or modify 00039 * it under the terms of the GNU Lesser General Public License LGPL as 00040 * published by the Free Software Foundation, either version 3 of the 00041 * License, or (at your option) any later version. 00042 * 00043 * This program is distributed in the hope that it will be useful, 00044 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00045 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00046 * GNU Lesser General Public License LGPL for more details. 00047 * 00048 * You should have received a copy of the GNU Lesser General Public 00049 * License LGPL along with this program. 00050 * If not, see <http://www.gnu.org/licenses/>. 00051 * 00052 ****************************************************************/ 00053 00054 00055 #ifndef CANESD_INCLUDEDEF_H 00056 #define CANESD_INCLUDEDEF_H 00057 //----------------------------------------------- 00058 00059 #include <libntcan/ntcan.h> 00060 // general includes 00061 #include <cob_utilities/windows.h> 00062 #include <iostream> 00063 #include <errno.h> 00064 00065 // Headers provided by other cob-packages 00066 #include <cob_generic_can/CanItf.h> 00067 00068 // Headers provided by other cob-packages which should be avoided/removed 00069 #include <cob_utilities/IniFile.h> 00070 #include <cob_utilities/Mutex.h> 00071 00072 00073 //----------------------------------------------- 00077 class CanESD : public CanItf 00078 { 00079 private: 00080 BYTE m_DeviceNr; 00081 BYTE m_BaudRate; 00082 NTCAN_HANDLE m_Handle; 00083 int m_LastID; 00084 bool m_bObjectMode; 00085 bool m_bIsTXError; 00086 Mutex m_Mutex; 00087 00088 IniFile m_IniFile; 00089 00090 void initIntern(); 00091 00092 public: 00093 CanESD(const char* cIniFile, bool bObjectMode = false); 00094 ~CanESD(); 00095 void init(){}; 00096 bool transmitMsg(CanMsg CMsg, bool bBlocking = true); 00097 bool receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry); 00098 bool receiveMsg(CanMsg* pCMsg); 00099 bool isObjectMode() { return m_bObjectMode; } 00100 bool isTransmitError() { return m_bIsTXError; } 00101 protected: 00102 00112 int invert(int id) 00113 { 00114 return (~id) & 0x7F8; 00115 } 00116 00117 int canIdAddGroup(NTCAN_HANDLE handle, int id); 00118 00119 std::string GetErrorStr(int ntstatus) const; 00120 int readEvent(); 00121 }; 00122 //----------------------------------------------- 00123 #endif